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  1. # Generated by stepconf 1.1 at Mon Jun 5 18:45:38 2023
  2. # If you make changes to this file, they will be
  3. # overwritten when you run stepconf again
  4. loadrt or2 count=1
  5. loadrt [KINS]KINEMATICS
  6. loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
  7. loadrt hal_parport cfg="0xec00 out"
  8. setp parport.0.reset-time 5000
  9. loadrt stepgen step_type=0,0,0,0
  10.  
  11. addf parport.0.read base-thread
  12. addf stepgen.make-pulses base-thread
  13. addf parport.0.write base-thread
  14. addf parport.0.reset base-thread
  15. addf or2.0 base-thread
  16.  
  17. addf stepgen.capture-position servo-thread
  18. addf motion-command-handler servo-thread
  19. addf motion-controller servo-thread
  20. addf stepgen.update-freq servo-thread
  21. net spindle-cmd-rpm <= spindle.0.speed-out
  22. net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
  23. net spindle-cmd-rps <= spindle.0.speed-out-rps
  24. net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
  25. net spindle-at-speed => spindle.0.at-speed
  26.  
  27. net estop-out => parport.0.pin-01-out
  28. setp parport.0.pin-04-out-invert 1
  29. net ydir => parport.0.pin-04-out
  30. net ystep => parport.0.pin-05-out
  31. setp parport.0.pin-05-out-reset 1
  32. setp parport.0.pin-06-out-invert 1
  33. net zdir => parport.0.pin-06-out
  34. net zstep => parport.0.pin-07-out
  35. setp parport.0.pin-07-out-reset 1
  36. setp parport.0.pin-08-out-invert 1
  37. net adir => parport.0.pin-08-out
  38. net astep => parport.0.pin-09-out
  39. setp parport.0.pin-09-out-reset 1
  40. setp parport.0.pin-16-out-invert 1
  41. net xdir => parport.0.pin-16-out
  42. net xstep => parport.0.pin-17-out
  43. setp parport.0.pin-17-out-reset 1
  44. net estop-ext <= parport.0.pin-10-in
  45. net all-home <= parport.0.pin-15-in
  46.  
  47. # link parallel port pins to the 'or2' component
  48. net probe-in-11 parport.0.pin-11-in-not => or2.0.in0
  49. net probe-in-12 parport.0.pin-12-in => or2.0.in1
  50.  
  51. # output of the 'or2' component to the 'probe-input' pin of the motion controller
  52. net probe-in or2.0.out => motion.probe-input
  53.  
  54. setp stepgen.0.position-scale [JOINT_0]SCALE
  55. setp stepgen.0.steplen 1
  56. setp stepgen.0.stepspace 0
  57. setp stepgen.0.dirhold 35000
  58. setp stepgen.0.dirsetup 35000
  59. setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
  60. net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
  61. net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
  62. net xstep <= stepgen.0.step
  63. net xdir <= stepgen.0.dir
  64. net xenable joint.0.amp-enable-out => stepgen.0.enable
  65. net all-home => joint.0.home-sw-in
  66.  
  67. setp stepgen.1.position-scale [JOINT_1]SCALE
  68. setp stepgen.1.steplen 1
  69. setp stepgen.1.stepspace 0
  70. setp stepgen.1.dirhold 35000
  71. setp stepgen.1.dirsetup 35000
  72. setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
  73. net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
  74. net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
  75. net ystep <= stepgen.1.step
  76. net ydir <= stepgen.1.dir
  77. net yenable joint.1.amp-enable-out => stepgen.1.enable
  78. net all-home => joint.1.home-sw-in
  79.  
  80. setp stepgen.2.position-scale [JOINT_2]SCALE
  81. setp stepgen.2.steplen 1
  82. setp stepgen.2.stepspace 0
  83. setp stepgen.2.dirhold 35000
  84. setp stepgen.2.dirsetup 35000
  85. setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
  86. net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
  87. net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
  88. net zstep <= stepgen.2.step
  89. net zdir <= stepgen.2.dir
  90. net zenable joint.2.amp-enable-out => stepgen.2.enable
  91. net all-home => joint.2.home-sw-in
  92.  
  93. setp stepgen.3.position-scale [JOINT_3]SCALE
  94. setp stepgen.3.steplen 1
  95. setp stepgen.3.stepspace 0
  96. setp stepgen.3.dirhold 35000
  97. setp stepgen.3.dirsetup 35000
  98. setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
  99. net apos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
  100. net apos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
  101. net astep <= stepgen.3.step
  102. net adir <= stepgen.3.dir
  103. net aenable joint.3.amp-enable-out => stepgen.3.enable
  104. net all-home => joint.3.home-sw-in
  105.  
  106. net estop-out <= iocontrol.0.user-enable-out
  107. net estop-ext => iocontrol.0.emc-enable-in
  108.  
  109. loadusr -W hal_manualtoolchange
  110. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  111. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  112. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  113. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
  114.  
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